Dynamic model of high confidence tilt-hinge rotor based on Newton-Euler recursion algorithm

The tilt-hinge rotor has a simpler structure because it doesn’t need a swashplate and can provide cyclic pitch control just by accelerating and decelerating the motor. However, the tilt hinge coupled with the rotor lag and pitch motion complicates the modeling of rotor dynamics. However, the rotor lag and pitch motion are coupled with the tilt hinge, which makes the rotor dynamics modeling more complicated. The nearby linkage coordinate system of the blade was created based on the enhanced Denavia-Hartenberg approach in order to address the issues of low model prediction accuracy in the current modeling techniques and inadequate disclosure of the difference between forward and reverse blade flap-motion. The Newton-Euler recursion algorithm is used to calculate the velocity and acceleration of each linkage and the interaction force and torque of each linkage in the local linkage coordinate system. The dynamic model of the tilt-hinge rotor is established. On this basis, the mechanism of periodic pitch variation of the tilt-hinge rotor is further revealed through simulation calculation. At the same time, the calculation results show that this model can predict the flapping difference between forward and reverse blades more accurately. The prediction accuracy of blade lagging amplitude is improved by 9.05%.